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Computing Occupancy Grids from Multiple Sensors using Linear Opinion Pools

Juan David Adarve 1 Mathias Perrollaz 1 Alexandros Makris 1 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : Perception is a key component for any robotic system. In this paper we present a method to construct occupancy grids by fusing sensory information using Linear Opinion Pools. We used lidar sensors and a stereo-vision system mounted on a vehicle to make the experiments. To perform the validation, we compared the proposed method with the fusion method previously used in the Bayesian Occupancy Filter framework, using real data taken from highway and urban scenarios. The results show that our method is better at dealing with conflicting information coming from the sensors. We propose an implementation on parallel hardware which allows real-time execution.
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https://hal.inria.fr/hal-00671211
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Submitted on : Wednesday, May 16, 2012 - 7:00:09 AM
Last modification on : Thursday, October 21, 2021 - 3:51:40 AM
Long-term archiving on: : Wednesday, December 14, 2016 - 7:16:25 AM

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Juan David Adarve, Mathias Perrollaz, Alexandros Makris, Christian Laugier. Computing Occupancy Grids from Multiple Sensors using Linear Opinion Pools. IEEE International Conference on Robotics and Automation, May 2012, St Paul, Minnesota, United States. ⟨hal-00671211⟩

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